There were no reports of damage or casualties, the Israeli army said, and no group in Gaza immediately claimed the attack, but in a statement, Hamas's military wing denied responsibility for the attack.

Besides Hamas, other armed factions operate in the territory, including the Islamic Jihad, an Iranian-backed organisation that has launched rockets in the past.

In Gaza, explosions were heard in the north and south of the territory on Friday, according to Palestinian witnesses who said Israeli planes bombed two Hamas security positions.

Meanwhile, Gaza's Interior Ministry issued a statement saying the rocket firing from Gaza violated the factional and national consensus and pledged to take measures against the perpetrators.

Following the incident, the Egyptian delegation that has been negotiating for months a long-term truce agreement between Israel and Hamas left the strip.